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config_order.yaml
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config_order.yaml
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master:
is_main_robot: true
control_panel_active_high: false
electron_uwb_mac: 42
robot_size_x_mm: 260 # Robot diameter
robot_alignment_length_mm: 135 # robot length from center to alignement border
opponent_size_x_mm_default: 400
calibration_direction: 1 # calibration side is on the front
odometry:
external_encoder_ticks_per_mm: 162.974661726 # Computed 162.974661726
external_track_mm: 202.75294494
left_wheel_correction_factor: 1.00038814 # Calibrated
right_wheel_correction_factor: -0.99961113 # Calibrated
beacon:
reflector_radius: 0.04 # in meters
angular_offset: 1.57 # in radians
aversive:
control:
angle:
kp: 4.
ki: 0.
kd: 25.
i_limit: 10.
distance:
kp: 1.5
ki: 0.5
kd: 10.
i_limit: 10.
trajectories:
angle:
speed: # in rad / s
init: 0.75
slow: 0.75
fast: 3.
acceleration: # in rad / s^2
init: 1.57
slow: 1.57
fast: 10.
distance:
speed: # in m / s
init: 0.1
slow: 0.2
fast: 0.5
acceleration: # in m / s^2
init: 0.15
slow: 0.5
fast: 1.5
windows:
distance: 100.
angle: 40.
angle_start: 40.
actuator:
left-wheel:
encoders:
primary:
p: 49
q: 676
ticks_per_rev: 4096
motor:
torque_cst: 1.
control:
mode: 2
current:
kp: 4.
ki: 1500.
kd: 0.
i_limit: 50.
velocity:
kp: 20.
ki: 50.
kd: 0.
i_limit: 1000.
position:
kp: 0.1
ki: 0.5
kd: 0.
low_batt_th: 5.
acceleration_limit: 200.
velocity_limit: 50.
torque_limit: 30.
right-wheel:
encoders:
primary:
p: 49
q: 676
ticks_per_rev: 4096
motor:
torque_cst: 1.
control:
mode: 2
current:
kp: 4.
ki: 1500.
kd: 0.
i_limit: 50.
velocity:
kp: 20.
ki: 50.
kd: 0.
i_limit: 1000.
position:
kp: 0.1
ki: 0.5
kd: 0.
low_batt_th: 5.
acceleration_limit: 200.
velocity_limit: 50.
torque_limit: 30.